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<div class="title">trajkovic_2d.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2013-, Open Perception Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_TRAJKOVIC_KEYPOINT_2D_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_TRAJKOVIC_KEYPOINT_2D_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/keypoints/keypoint.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/common/intensity.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;{</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> IntensityT = pcl::common::IntensityFieldAccessor&lt;Po<span class="keywordtype">int</span>InT&gt; &gt;</div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classpcl_1_1_trajkovic_keypoint2_d.html">   55</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html">TrajkovicKeypoint2D</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint</a>&lt;PointInT, PointOutT&gt;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  {</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;TrajkovicKeypoint2D&lt;PointInT, PointOutT, IntensityT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const TrajkovicKeypoint2D&lt;PointInT, PointOutT, IntensityT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Keypoint&lt;PointInT, PointOutT&gt;::PointCloudIn</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Keypoint&lt;PointInT, PointOutT&gt;::PointCloudOut</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudIn::ConstPtr PointCloudInConstPtr;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint&lt;PointInT, PointOutT&gt;::name_</a>;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint&lt;PointInT, PointOutT&gt;::input_</a>;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint&lt;PointInT, PointOutT&gt;::indices_</a>;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint&lt;PointInT, PointOutT&gt;::keypoints_indices_</a>;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">enum</span> { FOUR_CORNERS, EIGHT_CORNERS } ComputationMethod;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classpcl_1_1_trajkovic_keypoint2_d.html#a590c168fcfb8aaffec32daf00d2f4b3b">   77</a></span>&#160;      <a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html#a590c168fcfb8aaffec32daf00d2f4b3b">TrajkovicKeypoint2D</a> (ComputationMethod method = FOUR_CORNERS,</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;                           <span class="keywordtype">int</span> window_size = 3,</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;                           <span class="keywordtype">float</span> first_threshold = 0.1,</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;                           <span class="keywordtype">float</span> second_threshold = 100.0)</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        : <a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html#a9271c77f1dde92b045b679d9862e57f7">method_</a> (method)</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        , <a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html#ae49a37b4faa28f4f4fe608201c65b094">window_size_</a> (window_size)</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        , <a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html#ac75558372bd6c65c8288e0966c5f6de6">first_threshold_</a> (first_threshold)</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        , <a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html#a490145ac0b165ed898bac3f7d13c4b8c">second_threshold_</a> (second_threshold)</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        , <a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html#a1fd03419cd7ceb42996c00f505efa9d6">threads_</a> (1)</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      {</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        <a class="code" href="classpcl_1_1_keypoint.html#aef5710b81d66e6d429a9dfeb41d606ff">name_</a> = <span class="stringliteral">&quot;TrajkovicKeypoint2D&quot;</span>;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      }</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classpcl_1_1_trajkovic_keypoint2_d.html#aca8f4ace143d112a5c88f20b2848f672">   94</a></span>&#160;      <a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html#aca8f4ace143d112a5c88f20b2848f672">setMethod</a> (ComputationMethod method) { <a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html#a9271c77f1dde92b045b679d9862e57f7">method_</a> = method; }</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="keyword">inline</span> ComputationMethod</div>
<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classpcl_1_1_trajkovic_keypoint2_d.html#a5a407fff7847f1558fec87c3bc38d53d">   98</a></span>&#160;      <a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html#a5a407fff7847f1558fec87c3bc38d53d">getMethod</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html#a9271c77f1dde92b045b679d9862e57f7">method_</a>); }</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="classpcl_1_1_trajkovic_keypoint2_d.html#a741402118d7cb28d3ba8039dfb0e730f">  102</a></span>&#160;      <a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html#a741402118d7cb28d3ba8039dfb0e730f">setWindowSize</a> (<span class="keywordtype">int</span> window_size) { <a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html#ae49a37b4faa28f4f4fe608201c65b094">window_size_</a>= window_size; }</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="classpcl_1_1_trajkovic_keypoint2_d.html#aa92d9d4fd0a194b4befda4e3af58e9c5">  106</a></span>&#160;      <a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html#aa92d9d4fd0a194b4befda4e3af58e9c5">getWindowSize</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html#ae49a37b4faa28f4f4fe608201c65b094">window_size_</a>); }</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="classpcl_1_1_trajkovic_keypoint2_d.html#ae8a4b4f1046196acbe0f83c9cfed81d0">  113</a></span>&#160;      <a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html#ae8a4b4f1046196acbe0f83c9cfed81d0">setFirstThreshold</a> (<span class="keywordtype">float</span> threshold) { <a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html#ac75558372bd6c65c8288e0966c5f6de6">first_threshold_</a>= threshold; }</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="classpcl_1_1_trajkovic_keypoint2_d.html#aaba5b8fd282fcaa754f1e761c340528f">  117</a></span>&#160;      <a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html#aaba5b8fd282fcaa754f1e761c340528f">getFirstThreshold</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html#ac75558372bd6c65c8288e0966c5f6de6">first_threshold_</a>); }</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="classpcl_1_1_trajkovic_keypoint2_d.html#a30c7b3f209453dd4f018416bb8c2aafa">  124</a></span>&#160;      <a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html#a30c7b3f209453dd4f018416bb8c2aafa">setSecondThreshold</a> (<span class="keywordtype">float</span> threshold) { <a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html#a490145ac0b165ed898bac3f7d13c4b8c">second_threshold_</a>= threshold; }</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00128"></a><span class="lineno"><a class="line" href="classpcl_1_1_trajkovic_keypoint2_d.html#a7cdd9e7341d082e4ee75e1d37a785597">  128</a></span>&#160;      <a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html#a7cdd9e7341d082e4ee75e1d37a785597">getSecondThreshold</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html#a490145ac0b165ed898bac3f7d13c4b8c">second_threshold_</a>); }</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="classpcl_1_1_trajkovic_keypoint2_d.html#a35597d1983a8fa1d81a9d2064f4bd8cc">  134</a></span>&#160;      <a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html#a35597d1983a8fa1d81a9d2064f4bd8cc">setNumberOfThreads</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nr_threads = 0) { <a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html#a1fd03419cd7ceb42996c00f505efa9d6">threads_</a> = nr_threads; }</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="classpcl_1_1_trajkovic_keypoint2_d.html#a04b41720469ecd111d458c86db177cc4">  138</a></span>&#160;      <a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html#a04b41720469ecd111d458c86db177cc4">getNumberOfThreads</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html#a1fd03419cd7ceb42996c00f505efa9d6">threads_</a>); }</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      initCompute ();</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      <a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html#adf8927621ee7c1d38b055321590dba30">detectKeypoints</a> (PointCloudOut &amp;output);</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="classpcl_1_1_trajkovic_keypoint2_d.html#ad45d34b6e92887f5604054b5f6dae0e6">  150</a></span>&#160;      <a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html#ad45d34b6e92887f5604054b5f6dae0e6">greaterCornernessAtIndices</a> (<span class="keywordtype">int</span> a, <span class="keywordtype">int</span> b)<span class="keyword"> const</span></div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html#aea0185399dc4349bfe3169155be0da8f">response_</a>-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a> [a] &gt; <a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html#aea0185399dc4349bfe3169155be0da8f">response_</a>-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a> [b]);</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      }</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="classpcl_1_1_trajkovic_keypoint2_d.html#a9271c77f1dde92b045b679d9862e57f7">  156</a></span>&#160;      ComputationMethod <a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html#a9271c77f1dde92b045b679d9862e57f7">method_</a>;</div>
<div class="line"><a name="l00158"></a><span class="lineno"><a class="line" href="classpcl_1_1_trajkovic_keypoint2_d.html#ae49a37b4faa28f4f4fe608201c65b094">  158</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html#ae49a37b4faa28f4f4fe608201c65b094">window_size_</a>;</div>
<div class="line"><a name="l00160"></a><span class="lineno"><a class="line" href="classpcl_1_1_trajkovic_keypoint2_d.html#a6c643008703b447aa7efdcc6fd2f2f65">  160</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html#a6c643008703b447aa7efdcc6fd2f2f65">half_window_size_</a>;</div>
<div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="classpcl_1_1_trajkovic_keypoint2_d.html#a7f9c39d87eb100e6006e8ea71e021964">  162</a></span>&#160;      IntensityT <a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html#a7f9c39d87eb100e6006e8ea71e021964">intensity_</a>;</div>
<div class="line"><a name="l00164"></a><span class="lineno"><a class="line" href="classpcl_1_1_trajkovic_keypoint2_d.html#ac75558372bd6c65c8288e0966c5f6de6">  164</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html#ac75558372bd6c65c8288e0966c5f6de6">first_threshold_</a>;</div>
<div class="line"><a name="l00166"></a><span class="lineno"><a class="line" href="classpcl_1_1_trajkovic_keypoint2_d.html#a490145ac0b165ed898bac3f7d13c4b8c">  166</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html#a490145ac0b165ed898bac3f7d13c4b8c">second_threshold_</a>;</div>
<div class="line"><a name="l00168"></a><span class="lineno"><a class="line" href="classpcl_1_1_trajkovic_keypoint2_d.html#a1fd03419cd7ceb42996c00f505efa9d6">  168</a></span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html#a1fd03419cd7ceb42996c00f505efa9d6">threads_</a>;</div>
<div class="line"><a name="l00170"></a><span class="lineno"><a class="line" href="classpcl_1_1_trajkovic_keypoint2_d.html#aea0185399dc4349bfe3169155be0da8f">  170</a></span>&#160;      pcl::PointCloud&lt;float&gt;::Ptr <a class="code" href="classpcl_1_1_trajkovic_keypoint2_d.html#aea0185399dc4349bfe3169155be0da8f">response_</a>;</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  };</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;}</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;<span class="preprocessor">#include &lt;pcl/keypoints/impl/trajkovic_2d.hpp&gt;</span></div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// #ifndef PCL_TRAJKOVIC_KEYPOINT_2D_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html"><div class="ttname"><a href="classpcl_1_1_keypoint.html">pcl::Keypoint</a></div><div class="ttdoc">Keypoint represents the base class for key points.</div><div class="ttdef"><b>Definition:</b> keypoint.h:50</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_aef5710b81d66e6d429a9dfeb41d606ff"><div class="ttname"><a href="classpcl_1_1_keypoint.html#aef5710b81d66e6d429a9dfeb41d606ff">pcl::Keypoint::name_</a></div><div class="ttdeci">std::string name_</div><div class="ttdoc">The key point detection method's name.</div><div class="ttdef"><b>Definition:</b> keypoint.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1_trajkovic_keypoint2_d_html"><div class="ttname"><a href="classpcl_1_1_trajkovic_keypoint2_d.html">pcl::TrajkovicKeypoint2D</a></div><div class="ttdoc">TrajkovicKeypoint2D implements Trajkovic and Hedley corner detector on organized pooint cloud using i...</div><div class="ttdef"><b>Definition:</b> trajkovic_2d.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1_trajkovic_keypoint2_d_html_a04b41720469ecd111d458c86db177cc4"><div class="ttname"><a href="classpcl_1_1_trajkovic_keypoint2_d.html#a04b41720469ecd111d458c86db177cc4">pcl::TrajkovicKeypoint2D::getNumberOfThreads</a></div><div class="ttdeci">unsigned int getNumberOfThreads() const</div><div class="ttdef"><b>Definition:</b> trajkovic_2d.h:138</div></div>
<div class="ttc" id="aclasspcl_1_1_trajkovic_keypoint2_d_html_a1fd03419cd7ceb42996c00f505efa9d6"><div class="ttname"><a href="classpcl_1_1_trajkovic_keypoint2_d.html#a1fd03419cd7ceb42996c00f505efa9d6">pcl::TrajkovicKeypoint2D::threads_</a></div><div class="ttdeci">unsigned int threads_</div><div class="ttdoc">number of threads to be used</div><div class="ttdef"><b>Definition:</b> trajkovic_2d.h:168</div></div>
<div class="ttc" id="aclasspcl_1_1_trajkovic_keypoint2_d_html_a30c7b3f209453dd4f018416bb8c2aafa"><div class="ttname"><a href="classpcl_1_1_trajkovic_keypoint2_d.html#a30c7b3f209453dd4f018416bb8c2aafa">pcl::TrajkovicKeypoint2D::setSecondThreshold</a></div><div class="ttdeci">void setSecondThreshold(float threshold)</div><div class="ttdoc">set the second threshold to reject corners in the final cornerness computation stage.</div><div class="ttdef"><b>Definition:</b> trajkovic_2d.h:124</div></div>
<div class="ttc" id="aclasspcl_1_1_trajkovic_keypoint2_d_html_a35597d1983a8fa1d81a9d2064f4bd8cc"><div class="ttname"><a href="classpcl_1_1_trajkovic_keypoint2_d.html#a35597d1983a8fa1d81a9d2064f4bd8cc">pcl::TrajkovicKeypoint2D::setNumberOfThreads</a></div><div class="ttdeci">void setNumberOfThreads(unsigned int nr_threads=0)</div><div class="ttdoc">Initialize the scheduler and set the number of threads to use.</div><div class="ttdef"><b>Definition:</b> trajkovic_2d.h:134</div></div>
<div class="ttc" id="aclasspcl_1_1_trajkovic_keypoint2_d_html_a490145ac0b165ed898bac3f7d13c4b8c"><div class="ttname"><a href="classpcl_1_1_trajkovic_keypoint2_d.html#a490145ac0b165ed898bac3f7d13c4b8c">pcl::TrajkovicKeypoint2D::second_threshold_</a></div><div class="ttdeci">float second_threshold_</div><div class="ttdoc">second threshold for corner evaluation</div><div class="ttdef"><b>Definition:</b> trajkovic_2d.h:166</div></div>
<div class="ttc" id="aclasspcl_1_1_trajkovic_keypoint2_d_html_a590c168fcfb8aaffec32daf00d2f4b3b"><div class="ttname"><a href="classpcl_1_1_trajkovic_keypoint2_d.html#a590c168fcfb8aaffec32daf00d2f4b3b">pcl::TrajkovicKeypoint2D::TrajkovicKeypoint2D</a></div><div class="ttdeci">TrajkovicKeypoint2D(ComputationMethod method=FOUR_CORNERS, int window_size=3, float first_threshold=0.1, float second_threshold=100.0)</div><div class="ttdoc">Constructor</div><div class="ttdef"><b>Definition:</b> trajkovic_2d.h:77</div></div>
<div class="ttc" id="aclasspcl_1_1_trajkovic_keypoint2_d_html_a5a407fff7847f1558fec87c3bc38d53d"><div class="ttname"><a href="classpcl_1_1_trajkovic_keypoint2_d.html#a5a407fff7847f1558fec87c3bc38d53d">pcl::TrajkovicKeypoint2D::getMethod</a></div><div class="ttdeci">ComputationMethod getMethod() const</div><div class="ttdef"><b>Definition:</b> trajkovic_2d.h:98</div></div>
<div class="ttc" id="aclasspcl_1_1_trajkovic_keypoint2_d_html_a6c643008703b447aa7efdcc6fd2f2f65"><div class="ttname"><a href="classpcl_1_1_trajkovic_keypoint2_d.html#a6c643008703b447aa7efdcc6fd2f2f65">pcl::TrajkovicKeypoint2D::half_window_size_</a></div><div class="ttdeci">int half_window_size_</div><div class="ttdoc">half window size</div><div class="ttdef"><b>Definition:</b> trajkovic_2d.h:160</div></div>
<div class="ttc" id="aclasspcl_1_1_trajkovic_keypoint2_d_html_a741402118d7cb28d3ba8039dfb0e730f"><div class="ttname"><a href="classpcl_1_1_trajkovic_keypoint2_d.html#a741402118d7cb28d3ba8039dfb0e730f">pcl::TrajkovicKeypoint2D::setWindowSize</a></div><div class="ttdeci">void setWindowSize(int window_size)</div><div class="ttdoc">Set window size</div><div class="ttdef"><b>Definition:</b> trajkovic_2d.h:102</div></div>
<div class="ttc" id="aclasspcl_1_1_trajkovic_keypoint2_d_html_a7cdd9e7341d082e4ee75e1d37a785597"><div class="ttname"><a href="classpcl_1_1_trajkovic_keypoint2_d.html#a7cdd9e7341d082e4ee75e1d37a785597">pcl::TrajkovicKeypoint2D::getSecondThreshold</a></div><div class="ttdeci">float getSecondThreshold() const</div><div class="ttdef"><b>Definition:</b> trajkovic_2d.h:128</div></div>
<div class="ttc" id="aclasspcl_1_1_trajkovic_keypoint2_d_html_a7f9c39d87eb100e6006e8ea71e021964"><div class="ttname"><a href="classpcl_1_1_trajkovic_keypoint2_d.html#a7f9c39d87eb100e6006e8ea71e021964">pcl::TrajkovicKeypoint2D::intensity_</a></div><div class="ttdeci">IntensityT intensity_</div><div class="ttdoc">intensity field accessor</div><div class="ttdef"><b>Definition:</b> trajkovic_2d.h:162</div></div>
<div class="ttc" id="aclasspcl_1_1_trajkovic_keypoint2_d_html_a9271c77f1dde92b045b679d9862e57f7"><div class="ttname"><a href="classpcl_1_1_trajkovic_keypoint2_d.html#a9271c77f1dde92b045b679d9862e57f7">pcl::TrajkovicKeypoint2D::method_</a></div><div class="ttdeci">ComputationMethod method_</div><div class="ttdoc">computation method</div><div class="ttdef"><b>Definition:</b> trajkovic_2d.h:156</div></div>
<div class="ttc" id="aclasspcl_1_1_trajkovic_keypoint2_d_html_aa92d9d4fd0a194b4befda4e3af58e9c5"><div class="ttname"><a href="classpcl_1_1_trajkovic_keypoint2_d.html#aa92d9d4fd0a194b4befda4e3af58e9c5">pcl::TrajkovicKeypoint2D::getWindowSize</a></div><div class="ttdeci">int getWindowSize() const</div><div class="ttdef"><b>Definition:</b> trajkovic_2d.h:106</div></div>
<div class="ttc" id="aclasspcl_1_1_trajkovic_keypoint2_d_html_aaba5b8fd282fcaa754f1e761c340528f"><div class="ttname"><a href="classpcl_1_1_trajkovic_keypoint2_d.html#aaba5b8fd282fcaa754f1e761c340528f">pcl::TrajkovicKeypoint2D::getFirstThreshold</a></div><div class="ttdeci">float getFirstThreshold() const</div><div class="ttdef"><b>Definition:</b> trajkovic_2d.h:117</div></div>
<div class="ttc" id="aclasspcl_1_1_trajkovic_keypoint2_d_html_ac75558372bd6c65c8288e0966c5f6de6"><div class="ttname"><a href="classpcl_1_1_trajkovic_keypoint2_d.html#ac75558372bd6c65c8288e0966c5f6de6">pcl::TrajkovicKeypoint2D::first_threshold_</a></div><div class="ttdeci">float first_threshold_</div><div class="ttdoc">first threshold for quick rejection</div><div class="ttdef"><b>Definition:</b> trajkovic_2d.h:164</div></div>
<div class="ttc" id="aclasspcl_1_1_trajkovic_keypoint2_d_html_aca8f4ace143d112a5c88f20b2848f672"><div class="ttname"><a href="classpcl_1_1_trajkovic_keypoint2_d.html#aca8f4ace143d112a5c88f20b2848f672">pcl::TrajkovicKeypoint2D::setMethod</a></div><div class="ttdeci">void setMethod(ComputationMethod method)</div><div class="ttdoc">set the method of the response to be calculated.</div><div class="ttdef"><b>Definition:</b> trajkovic_2d.h:94</div></div>
<div class="ttc" id="aclasspcl_1_1_trajkovic_keypoint2_d_html_ad45d34b6e92887f5604054b5f6dae0e6"><div class="ttname"><a href="classpcl_1_1_trajkovic_keypoint2_d.html#ad45d34b6e92887f5604054b5f6dae0e6">pcl::TrajkovicKeypoint2D::greaterCornernessAtIndices</a></div><div class="ttdeci">bool greaterCornernessAtIndices(int a, int b) const</div><div class="ttdoc">comparator for responses intensity</div><div class="ttdef"><b>Definition:</b> trajkovic_2d.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1_trajkovic_keypoint2_d_html_adf8927621ee7c1d38b055321590dba30"><div class="ttname"><a href="classpcl_1_1_trajkovic_keypoint2_d.html#adf8927621ee7c1d38b055321590dba30">pcl::TrajkovicKeypoint2D::detectKeypoints</a></div><div class="ttdeci">void detectKeypoints(PointCloudOut &amp;output)</div><div class="ttdoc">Abstract key point detection method.</div><div class="ttdef"><b>Definition:</b> trajkovic_2d.hpp:81</div></div>
<div class="ttc" id="aclasspcl_1_1_trajkovic_keypoint2_d_html_ae49a37b4faa28f4f4fe608201c65b094"><div class="ttname"><a href="classpcl_1_1_trajkovic_keypoint2_d.html#ae49a37b4faa28f4f4fe608201c65b094">pcl::TrajkovicKeypoint2D::window_size_</a></div><div class="ttdeci">int window_size_</div><div class="ttdoc">Window size</div><div class="ttdef"><b>Definition:</b> trajkovic_2d.h:158</div></div>
<div class="ttc" id="aclasspcl_1_1_trajkovic_keypoint2_d_html_ae8a4b4f1046196acbe0f83c9cfed81d0"><div class="ttname"><a href="classpcl_1_1_trajkovic_keypoint2_d.html#ae8a4b4f1046196acbe0f83c9cfed81d0">pcl::TrajkovicKeypoint2D::setFirstThreshold</a></div><div class="ttdeci">void setFirstThreshold(float threshold)</div><div class="ttdoc">set the first_threshold to reject corners in the simple cornerness computation stage.</div><div class="ttdef"><b>Definition:</b> trajkovic_2d.h:113</div></div>
<div class="ttc" id="aclasspcl_1_1_trajkovic_keypoint2_d_html_aea0185399dc4349bfe3169155be0da8f"><div class="ttname"><a href="classpcl_1_1_trajkovic_keypoint2_d.html#aea0185399dc4349bfe3169155be0da8f">pcl::TrajkovicKeypoint2D::response_</a></div><div class="ttdeci">pcl::PointCloud&lt; float &gt;::Ptr response_</div><div class="ttdoc">point cloud response</div><div class="ttdef"><b>Definition:</b> trajkovic_2d.h:170</div></div>
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